version: 66.11
glider: 169
mission: 8
dive: 143
start: 4 14 113 19 18 0
data:
$ID,169
$MISSION,8
$DIVE,143
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21396.807
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140413,190724,2012.379,12417.706,39,1.0,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-72.1
$GPS2,140413,191731,2012.364,12417.751,10,1.7,10,-2.5
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,6.0,6253,-18.3,-8.250,-30.00,1036
$D_GRID,5564
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.60,-55.5,122,2518,1260,951,0.0,0.0,0,107,0.00,0.08,-78.57,0.000,16390,0.000,0.540,122,2481,3080,2998,3162,0,0,0,0,0,0,28.83,25.70,26.45
$GC,113,-0.60,-55.5,122,2478,2999,3162,4.0,-10.4,11,129,8.25,2.38,0.00,0.000,2308,0.236,0.038,2166,3845,3082,3002,3162,0,0,0,0,0,0,25.76,26.10,28.83
$GC,286,-0.60,-55.5,2166,3845,3005,3162,60.5,-23.3,26,292,0.00,2.25,0.00,0.000,1030,0.000,0.028,2166,2479,3083,3005,3162,0,0,0,0,0,0,28.83,26.29,28.83
$GC,601,-0.60,-55.5,2167,2478,3009,3162,131.1,-20.2,42,607,0.00,2.42,0.00,0.000,516,0.000,0.034,2166,1026,3085,3009,3162,0,0,0,0,0,0,28.83,26.39,28.83
$GC,688,-0.60,-55.5,1312,1025,2980,3158,147.5,-18.8,46,694,0.12,2.47,0.00,0.000,3078,0.171,0.034,2188,2514,3085,3009,3162,0,0,0,0,0,0,26.25,26.41,28.83
$GC,1016,-0.60,-55.5,2187,2512,3011,3162,202.1,-15.9,62,1022,0.00,2.45,0.00,0.000,516,0.000,0.032,2188,1032,3086,3011,3162,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1035,-0.60,-55.5,2188,1032,3010,3162,202.1,-15.9,62,1044,0.00,2.47,0.00,0.000,1030,0.000,0.034,2181,2512,3086,3011,3162,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1342,-0.60,-55.5,2180,2510,3010,3162,252.5,-14.8,78,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2510,3086,3010,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,-0.60,-55.5,2180,2509,3010,3162,299.0,-14.9,93,1648,0.00,2.45,0.00,0.000,516,0.000,0.032,2181,1036,3086,3011,3162,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1834,-0.60,-55.5,2180,1035,3010,3162,322.3,-12.0,102,1840,0.00,2.47,0.00,0.000,1030,0.000,0.034,2170,2518,3086,3011,3162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2156,-0.60,-55.5,2170,2515,3010,3162,362.9,-12.7,118,2162,0.00,2.47,0.00,0.000,516,0.000,0.034,2173,1042,3086,3010,3162,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2206,-0.60,-55.5,1312,1042,2982,3157,369.1,-13.2,120,2212,0.00,2.50,0.00,0.000,1030,0.000,0.037,2167,2513,3086,3011,3162,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2529,-0.60,-55.5,2166,2510,3011,3160,418.5,-15.5,136,2535,0.00,2.30,0.00,0.000,260,0.000,0.047,2156,3838,3084,3010,3159,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2631,-0.60,-55.5,2156,3838,3011,3158,433.1,-15.8,140,2637,0.12,2.22,0.00,0.000,3078,0.154,0.027,2186,2468,3084,3010,3159,0,0,0,0,0,0,26.44,26.64,28.83
$GC,2949,-0.60,-55.5,2189,2466,3010,3157,471.0,-10.2,156,2956,0.00,2.38,0.00,0.000,516,0.000,0.034,2189,1026,3083,3010,3157,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3062,-0.60,-55.5,1344,1026,2984,3152,482.9,-10.6,161,3067,0.00,2.47,0.00,0.000,1030,0.000,0.032,2181,2514,3083,3010,3156,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3384,-0.60,-55.5,2180,2512,3010,3152,518.3,-11.7,177,3390,0.00,2.47,0.00,0.000,516,0.000,0.033,2181,1027,3080,3009,3152,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3418,-0.60,-55.5,2180,1026,3010,3152,521.5,-11.8,178,3424,0.00,2.50,0.00,0.000,1030,0.000,0.033,2170,2520,3081,3010,3152,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3734,-0.60,-55.5,2170,2517,3009,3147,562.4,-12.3,194,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2517,3079,3012,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.60,-55.5,2170,2517,3010,3142,597.7,-11.4,209,4040,0.00,2.25,0.00,0.000,260,0.000,0.050,2160,3833,3076,3009,3143,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4072,-0.60,-55.5,2159,3833,3010,3143,602.2,-12.0,211,4078,0.00,2.25,0.00,0.000,1030,0.000,0.029,2160,2474,3076,3010,3142,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4407,-0.60,-55.5,2160,2473,3010,3139,639.7,-10.5,222,4413,0.00,2.38,0.00,0.000,516,0.000,0.037,2160,1030,3074,3010,3139,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4463,-0.60,-55.5,2160,1028,3010,3139,643.5,-10.5,223,4470,0.12,2.47,0.00,0.000,3078,0.161,0.036,2189,2515,3074,3010,3138,0,0,0,0,0,0,26.42,26.60,28.83
$GC,4780,-0.60,-55.5,2189,2513,3010,3133,672.5,-8.4,234,4786,0.00,2.45,0.00,0.000,516,0.000,0.034,2189,1027,3071,3010,3133,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4871,-0.60,-55.5,1348,1026,2984,3128,678.3,-8.6,236,4879,0.00,2.47,0.00,0.000,1030,0.000,0.034,2181,2520,3071,3010,3132,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5180,-0.60,-55.5,2181,2517,3010,3128,707.4,-8.9,247,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2517,3069,3010,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5478,-0.60,-55.5,2181,2517,3010,3126,735.1,-9.3,257,5484,0.00,2.47,0.00,0.000,516,0.000,0.035,2181,1023,3068,3010,3126,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5569,-0.60,-55.5,2181,1023,3010,3125,741.5,-9.4,259,5579,0.00,2.47,0.00,0.000,1030,0.000,0.033,2170,2520,3067,3010,3125,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5877,-0.60,-55.5,2170,2517,3010,3121,772.9,-9.5,270,5883,0.00,2.45,0.00,0.000,516,0.000,0.034,2175,1041,3066,3010,3122,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5925,-0.60,-55.5,2174,1041,3010,3127,776.6,-9.6,271,5931,0.00,2.47,0.00,0.000,1030,0.000,0.036,2168,2519,3065,3010,3121,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6250,-0.60,-55.5,2167,2516,3008,3117,810.1,-9.9,282,6256,0.00,2.25,0.00,0.000,260,0.000,0.048,2157,3826,3063,3008,3119,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6297,-0.60,-55.5,2162,3825,3006,3119,813.9,-10.1,283,6303,0.10,2.25,0.00,0.000,3078,0.153,0.031,2182,2471,3062,3006,3119,0,0,0,0,0,0,26.45,26.61,28.83
$GC,6623,-0.61,-59.6,2182,2470,3006,3118,842.2,-7.8,294,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2470,3062,3006,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6923,-0.61,-62.9,2182,2470,3005,3115,865.5,-7.9,304,6929,0.00,2.42,0.00,0.000,260,0.000,0.053,2175,3838,3060,3006,3115,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6943,-0.62,-66.2,2175,3838,3001,3115,865.5,-7.9,304,6950,0.00,2.28,0.00,0.000,1030,0.000,0.030,2176,2467,3060,3005,3115,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7265,-0.62,-66.2,2176,2467,3005,3113,895.4,-9.0,315,7270,0.00,2.35,0.00,0.000,516,0.000,0.038,2177,1048,3059,3005,3113,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7376,-0.62,-66.2,2176,1048,3005,3110,905.1,-9.8,318,7382,0.00,2.45,0.00,0.000,1030,0.000,0.036,2167,2517,3058,3004,3113,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7698,-0.62,-66.2,2167,2515,3004,3112,938.6,-9.6,329,7704,0.00,2.28,0.00,0.000,260,0.000,0.051,2156,3839,3057,3004,3111,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7722,-0.62,-66.2,2156,3839,3003,3111,938.6,-9.6,329,7728,0.00,2.28,0.00,0.000,1030,0.000,0.031,2156,2477,3057,3003,3111,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8040,-0.62,-66.2,2156,2476,3002,3110,970.7,-9.2,340,8046,0.00,2.42,0.00,0.000,260,0.000,0.055,2153,3837,3056,3003,3110,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8060,-0.62,-66.2,2153,3837,3003,3110,970.7,-9.2,340,8065,0.00,2.30,0.00,0.000,1030,0.000,0.031,2154,2467,3056,3002,3110,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,8258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8258,begin apogee
$GC,8265,-0.12,0.0,2154,2607,3002,3109,991.6,-9.2,347,8332,0.52,0.00,60.85,0.860,10246,0.117,0.000,2332,2607,2847,2823,2871,0,0,0,0,0,0,26.36,28.83,24.96
$STATE,8334,end apogee,CONTROL_FINISHED_OK
$STATE,8334,begin climb
$GC,8337,0.62,66.2,2332,2607,2819,2864,994.5,0.0,349,8411,0.70,2.15,67.35,0.999,10500,0.060,0.041,2583,3833,2573,2598,2549,0,0,0,0,0,0,25.65,25.10,24.44
$GC,8447,0.62,66.2,2583,3838,2586,2542,989.1,5.9,353,8455,0.00,2.03,0.00,0.000,1030,0.000,0.016,2593,2557,2563,2586,2540,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8784,0.62,66.2,2593,2558,2582,2531,959.9,9.1,364,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2557,2557,2583,2531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9085,0.62,66.2,2593,2557,2581,2529,934.4,8.5,374,9091,0.00,2.17,0.00,0.000,260,0.000,0.040,2583,3835,2555,2582,2529,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9325,0.62,66.2,2583,3835,2578,2529,915.3,8.3,381,9332,0.00,1.92,0.00,0.000,1030,0.000,0.015,2593,2557,2554,2579,2529,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9643,0.69,92.2,2593,2557,2578,2525,894.6,5.7,392,9677,0.00,2.17,23.85,0.964,8452,0.000,0.041,2583,3835,2464,2504,2425,0,0,1,0,0,0,28.83,25.96,25.27
$GC,9721,0.75,116.1,2583,3835,2498,2421,889.8,5.9,394,9754,0.00,1.98,24.42,0.923,9222,0.000,0.015,2593,2562,2371,2431,2311,0,0,0,0,0,0,28.83,26.13,24.94
$GC,10079,0.75,116.1,2594,2563,2424,2292,857.0,9.1,406,10085,0.00,2.17,0.00,0.000,260,0.000,0.041,2583,3839,2358,2425,2292,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10103,0.75,116.1,2583,3842,2423,2292,857.0,9.1,406,10109,0.00,1.98,0.00,0.000,1030,0.000,0.016,2594,2570,2357,2423,2291,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10421,0.75,116.1,2593,2569,2422,2289,824.9,9.2,417,10427,0.00,2.15,0.00,0.000,260,0.000,0.041,2584,3850,2355,2422,2289,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10462,0.75,116.1,2583,3850,2421,2289,821.0,9.4,418,10467,0.00,1.95,0.00,0.000,1030,0.000,0.016,2594,2568,2355,2421,2289,0,0,0,0,0,0,28.83,26.42,28.83
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$STATE,18435,end climb,SURFACE_DEPTH_REACHED
$STATE,18435,begin surface coast
$FINISH,-0.8,1.022986
$STATE,18470,end surface coast,CONTROL_FINISHED_OK
$STATE,18470,begin surface
$SM_CCo,18490,107.72,0.125,0,0,1098,430.01
$SM_GC,0.18,6.43,2.30,107.72,0.033,0.018,0.125,130,2467,1098,-6.95,0.40,430.01,0,0,0,0,0,0,26.56,26.60,26.12
$IRIDIUM_FIX,2001.88,12416.44,140413,151528
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.22
$INTERNAL_PRESSURE,9.34962
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3949120
$24V_AH,24.4,18.866
$10V_AH,10.2,14.967
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.725,167.575,269.775,107.725,0.000,0.000,0.000,353.675,0.000,0.000,11.626,3697.767,11592.202,647.024,2535.448,710.348,0.000,2105.713,0.000,2060.425,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,540.090,999.090,124.695,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18542.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.547,0.000,0.000,0.000
$MEM,329148
$DATA_FILE_SIZE,30089,820
$CAP_FILE_SIZE,446612,0
$CFSIZE,260034560,232570880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.185, 65.3,1
$GPS,150413,002906,2014.465,12419.303,33,1.1,33,-2.5